Arduino multiple callback error

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Hello everyone, thanks for the attention! I am using Ros Kinetic on Ubuntu Mate as OS, running on a Raspbery Pi 3 I am trying to use an Arduino Mega 2560 to do a few things in my robot. Control my Stepper Motors, publish raw IMU data and publish encoder readings.

The codes can be located here: https://github.com/renanmb/Ros_arduino

The Problem is:

When I use Arduino with only one type of message it works. However, when it runs different callbacks and publishers of different types, for example: Boolean, Int32 and Float 32. It does not work.

I receive the following message on my Terminal:

[ERROR] [ 1433855869.447165] Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino

In my Github Repository called Ros_arduino:

The codes that do not work

ros_surp.ino (lowercase, the upper case one is missing stuff)

ROS_PWM.ino

The codes that do work

IMU_ROS_test2.ino

chapter7_book.ino

chapter7_book_blink_and ......

I thought it was the following erros:

• Buffer. Then I modified the buffer size and it keep giving me the same error. I used the following tutorial to change the buffer:
• Baud rate. then I changed the baud rate using rosrun rosserial_python serial_node.py _port:=/dev/ttyACM0 _baud:=????? and I added Serial.begin() with the desired baud rate in the arduino. It did not work, I kept receiving the same error message.
• Bad cable

So what should I do to fix it?

I want to know if there is a way to use my Arduino to control multiple actuators and publish IMU and encoder data. If not I want to know if there is any board that I could use for that. I am considering as a last case scenario to use multiple arduinos, because it is an Ugly solution and takes a lot of space.

I am using the Arduino because of the AVR micro controller that is easier and generates a much better PWM signal than ARM based micro controller.

My code: ros_surp.ino

gives me

[ERROR] [ 1433855869.447165] Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino

#include <Wire.h>
#include <ros.h>

#include <Adafruit_Sensor.h>
#include <Adafruit_LSM303.h>
#include <Adafruit_LSM303_U.h>

#include <std_msgs/Float32.h>
#include <std_msgs/Int32.h>
#include <std_msgs/Bool.h>

#include <Encoder.h> //encoder library - http://www.pjrc.com/teensy/td_libs_Encoder.html

#include <PWM.h> //PWM library for controlling the steppers

/* Assign a unique ID to the sensors */
Adafruit_LSM303_Accel_Unified accel = Adafruit_LSM303_Accel_Unified(30301);
//******** add later gyroscope and magnet sensor for more complex positioning


//  Both pins must have interrupt capability
Encoder myEnc(2,3);

//Motor pins
//use pin 11 on the Mega instead, otherwise there is a frequency cap at 31 Hz
const int step_pin1 = 11;     // the pin that define the steps
const int dir_pin1 = 22;      // the dir pin
const int step_pin2 = 12;     // the pin that define the steps
const int dir_pin2 = 24;
int32_t frequency1 = 0; //frequency (in Hz)
int32_t ...